/*****************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2007-2009  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 *  published by the Free Software Foundation.
 *
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
 *  Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 ****************************************************************************/

#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <time.h> /* clock_gettime() */
#include <sys/mman.h> /* mlockall() */
#include <sched.h> /* sched_setscheduler() */

/****************************************************************************/

#include "ecrt.h"
// #include <linux/time.h>

/****************************************************************************/

/** Task period in ns. */
#define PERIOD_NS   (1000000)

#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
                                     guranteed safe to access without
                                     faulting */

/****************************************************************************/

/* Constants */
#define NSEC_PER_SEC (1000000000)
#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)

/****************************************************************************/

// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};

static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};

static ec_slave_config_t *sc = NULL;   //*sc_ana_in
static ec_slave_config_state_t sc_state = {};   //sc_ana_in_state

/****************************************************************************/
uint8_t led_type[11]={0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80,0xff,0xf0,0x0f};

// process data
static uint8_t *domain1_pd = NULL;

#define BusCouplerPos  0, 1

#define Beckhoff_EK1100 0x00000118, 0x00001100
// #define Beckhoff_EL2004 0x00000118,0x17d43052// 0x07d43052

static unsigned int off_ana_out;
static unsigned int off_dig_out;
static unsigned int off_alarm_out;
static unsigned int off_alarm_in;

struct PdoOffset
	{
	unsigned int offset;
	unsigned int bitPosition;
	};
static struct PdoOffset digOutOffsets[1];

const static ec_pdo_entry_reg_t domain1_regs[] = {
    {BusCouplerPos, Beckhoff_EK1100, 0x7000,1, &off_ana_out},
    {}
};

static unsigned int counter = 0;
static unsigned int blink = 0;
static unsigned int blink_int = 0;
/*****************************************************************************/


// Analog out -------------------------

static ec_pdo_entry_info_t el4102_pdo_entries[] = {
    {0x7000, 1, 16}, // channel 1 value
    {0x70E0, 1, 16}, // alarm
    {0x60E0, 1, 16} // alarm
};

static ec_pdo_info_t el4102_pdos[] = {
    {0x1603, 1, el4102_pdo_entries},
    {0x161F, 1, el4102_pdo_entries+1},
    {0x1A1F, 1, el4102_pdo_entries+2}

    // {0x1601, 1, el4102_pdo_entries + 1}
};

static ec_sync_info_t el4102_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 2,  el4102_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT,1,el4102_pdos + 2,EC_WD_ENABLE},
    {0xff}
};

/*****************************************************************************/

void check_domain1_state(void)
{
    ec_domain_state_t ds;

    ecrt_domain_state(domain1, &ds);

    if (ds.working_counter != domain1_state.working_counter) {
        printf("Domain1: WC %u.\n", ds.working_counter);
    }
    if (ds.wc_state != domain1_state.wc_state) {
        printf("Domain1: State %u.\n", ds.wc_state);
    }

    domain1_state = ds;
}

/*****************************************************************************/

void check_master_state(void)
{
    ec_master_state_t ms;
    ecrt_master_state(master, &ms);

    if (ms.slaves_responding != master_state.slaves_responding) {
        printf("%u slave(s).\n", ms.slaves_responding);
    }
    if (ms.al_states != master_state.al_states) {
        printf("AL states: 0x%02X.\n", ms.al_states);
    }
    if (ms.link_up != master_state.link_up) {
        printf("Link is %s.\n", ms.link_up ? "up" : "down");
    }

    master_state = ms;
}

/*****************************************************************************/

void check_slave_config_states(void)
{
    ec_slave_config_state_t s;

    ecrt_slave_config_state(sc, &s);

    if (s.al_state != sc_state.al_state) {
        printf("AnaIn: State 0x%02X.\n", s.al_state);
    }
    if (s.online != sc_state.online) {
        printf("AnaIn: %s.\n", s.online ? "online" : "offline");
    }
    if (s.operational != sc_state.operational) {
        printf("AnaIn: %soperational.\n", s.operational ? "" : "Not ");
    }

    sc_state = s;
}

/*****************************************************************************/

void cyclic_task()
{
    // receive process data
    ecrt_master_receive(master);
    ecrt_domain_process(domain1);

    // check process data state
    check_domain1_state();

    if (counter) {
        counter--;
    } else { // do this at 1 Hz
        counter = FREQUENCY;

        // calculate new process data
        blink = !blink;

        // check for master state (optional)
        check_master_state();

        // check for slave configuration state(s) (optional)
       check_slave_config_states();//hw :modify later
        blink_int++;
        if(blink_int>7)
            blink_int = 0;
       EC_WRITE_U8(domain1_pd + digOutOffsets->bitPosition,  led_type[blink_int]);//0x06 : 0x09
       printf("blink_int %d value\n",blink_int);
    }

#if 0
    // read process data
    printf("AnaIn: state %u value %u\n",
            EC_READ_U8(domain1_pd + off_ana_in_status),
            EC_READ_U16(domain1_pd + off_ana_in_value));
#endif

#if 0
    // write process data
    EC_WRITE_U8(domain1_pd + digOutOffsets->bitPosition, blink ? 0x00 : 0xff);//0x06 : 0x09
#endif


#if 0
  {
    EC_WRITE_U8(domain1_pd + digOutOffsets->bitPosition,  led_type[blink_int%8]);//0x06 : 0x09
    // modbus_write_bit(mb, i, 1);
    //  usleep(500000);
    // EC_WRITE_U8(domain1_pd + digOutOffsets->bitPosition, 0x00 );//0x06 : 0x09
    // modbus_write_bit(mb, i, 0);
  }
#endif

    // printf("data %o\n", 0x01 << blink_int%8);
    // send process data
    ecrt_domain_queue(domain1);
    ecrt_master_send(master);
}

/****************************************************************************/

void stack_prefault(void)
{
    unsigned char dummy[MAX_SAFE_STACK];

    memset(dummy, 0, MAX_SAFE_STACK);
}

/****************************************************************************/

int main(int argc, char **argv)
{
    // ec_slave_config_t *sc;
    struct timespec wakeup_time;
    int ret = 0;

    master = ecrt_request_master(0);
    if (!master) {
        return -1;
    }

    domain1 = ecrt_master_create_domain(master);
    if (!domain1) {
        return -1;
    }

    // Create configuration for bus coupler
    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
    if (!sc) {
        return -1;
    }

    if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
        fprintf(stderr, "Failed to configure PDOs.\n");
        return -1;
    }
   
    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
        fprintf(stderr, "PDO entry registration failed!\n");
        return -1;
    }

    printf("Activating master...\n");
    if (ecrt_master_activate(master)) {
        return -1;
    }

    if (!(domain1_pd = ecrt_domain_data(domain1))) {
        return -1;
    }

    /* Set priority */

    struct sched_param param = {};
    param.sched_priority = sched_get_priority_max(SCHED_FIFO);

    printf("Using priority %i.", param.sched_priority);
    if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
        perror("sched_setscheduler failed");
    }

    /* Lock memory */

    if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
        fprintf(stderr, "Warning: Failed to lock memory: %s\n",
                strerror(errno));
    }

    stack_prefault();

    printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);

    clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
    wakeup_time.tv_sec += 1; /* start in future */
    wakeup_time.tv_nsec = 0;

    while (1) {
        ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
                &wakeup_time, NULL);
        if (ret) {
            fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
            break;
        }
        // printf("length :%d\n",ecrt_domain_size(domain1));
        cyclic_task();

        wakeup_time.tv_nsec += PERIOD_NS;
        while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
            wakeup_time.tv_nsec -= NSEC_PER_SEC;
            wakeup_time.tv_sec++;
        }
    }

    return ret;
}

/****************************************************************************/
